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A novel and practical strategy for the precise chamferless robotic peg hole insertion
H. Qiao; B. S. Dalay; R. M. Parkin; H Qiao
1995-01
发表期刊Robotica
卷号13期号:1页码:29-35
摘要The influence of the angle between the axes of the peg and hole (angular error) and the contact surface defects on the measurement of deviation (lateral error) have been carefully analysed. It has been shown that they would influence the measurement of the magnitude of deviation and even its direction. This phenomenon causes severe difficulty in the assembly operations. A novel strategy for the high-precision chamferless peg hold insertion with a wrist force sensor is presented. This strategy is constructed: (1) to obtain the relationship between the peg and hole from the force sensor signal when an angle between the axes of the peg and hole exists and defects of the contact surfaces are present, (2) to reduce the angular and lateral errors, (3) to achieve the precise chamferless robotic peg hole insertion. In this paper, the insertion can be obtained with a reasonably large range of initial conditions. The principle is to move and rotate the peg from an area having many geometric uncertainties to a new area, where the deviation of the peg and hole can be obtained.
关键词Robotics / force Sensor / deviation / angular Error / assembly
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12605
专题09年以前成果
通讯作者H Qiao
作者单位Dept. of Mechanical and Manufacturing Engineering, De Montfort University
推荐引用方式
GB/T 7714
H. Qiao,B. S. Dalay,R. M. Parkin,et al. A novel and practical strategy for the precise chamferless robotic peg hole insertion[J]. Robotica,1995,13(1):29-35.
APA H. Qiao,B. S. Dalay,R. M. Parkin,&H Qiao.(1995).A novel and practical strategy for the precise chamferless robotic peg hole insertion.Robotica,13(1),29-35.
MLA H. Qiao,et al."A novel and practical strategy for the precise chamferless robotic peg hole insertion".Robotica 13.1(1995):29-35.
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